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Added Android UWB code

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This commit is contained in:
Markus Bullmann
2019-04-02 18:48:48 +02:00
parent 799e563ff5
commit 5a7507a93e
82 changed files with 12323 additions and 137 deletions
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164
Manager.cpp
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@@ -9,37 +9,56 @@
#include <sstream>
#include <chrono>
#include <iomanip>
#include <thread>>
#include <QStandardPaths>
#include <QtGlobal>
#include <QDir>
#include <QTextStream>
#include "uwb.h"
const std::string NUC1 = "38:de:ad:6d:77:25";
const std::string NUC2 = "38:de:ad:6d:60:ff";
const std::string NUC3 = "1c:1b:b5:ef:a2:9a";
const std::string NUC4 = "1c:1b:b5:ec:d1:82";
static long long startTime = 0;
static QString GetCurrentTimeForFileName()
{
auto time = std::time(nullptr);
std::stringstream ss;
ss << std::put_time(std::localtime(&time), "%F_%T"); // ISO 8601 without timezone information.
ss << std::put_time(std::localtime(&time), "%Y%m%d_%H%M%S");
auto s = ss.str();
std::replace(s.begin(), s.end(), ':', '-');
return QString::fromStdString(s);
}
static long long nowInMsec()
{
auto now = std::chrono::system_clock::now();
auto duration = now.time_since_epoch();
auto millis = std::chrono::duration_cast<std::chrono::milliseconds>(duration).count();
return millis;
}
Manager::Manager() {
}
void Manager::trigger() {
QString folder = QStandardPaths::writableLocation(QStandardPaths::DownloadLocation) + "/ftm/";
QString folder = QStandardPaths::writableLocation(QStandardPaths::DownloadLocation) + "/ftm/";
dataLogger = std::make_shared<QFile>(folder+"/ftm_"+GetCurrentTimeForFileName()+".txt");
QString prefix = GetCurrentTimeForFileName();
dataLogger = std::make_shared<QFile>(folder+"/"+prefix+"_ftm.txt");
uwbLogger = std::make_shared<QFile>(folder+"/"+prefix+"_uwb.txt");
gtLogger = std::make_shared<QFile>(folder+"/"+prefix+"_gt.txt");
if (!dataLogger->exists()) {
// create the folder, if necessary
@@ -57,10 +76,24 @@ void Manager::trigger() {
dataLogger = nullptr;
}
if (!uwbLogger->open(QIODevice::ReadWrite)) {
qWarning() << "Failed to create uwb data logger file" << uwbLogger->fileName();
uwbLogger = nullptr;
}
if (!gtLogger->open(QIODevice::ReadWrite)) {
qWarning() << "Failed to create gt data logger file" << gtLogger->fileName();
gtLogger = nullptr;
}
startTime = nowInMsec();
#ifdef ANDROID
QAndroidJniObject::callStaticMethod<int>("android/net/wifi/UWB", "start", "()I");
QAndroidJniObject::callStaticMethod<int>("android/net/wifi/RTT", "start", "()I");
#else
//onData("38:de:ad:6d:77:25;FAILED");
@@ -75,21 +108,39 @@ void Manager::trigger() {
void Manager::stop() {
#ifdef ANDROID
QAndroidJniObject::callStaticMethod<int>("android/net/wifi/RTT", "stop", "()I");
QAndroidJniObject::callStaticMethod<int>("android/net/wifi/UWB", "stop", "()I");
#endif
dataLogger->flush();
dataLogger->close();
uwbLogger->flush();
uwbLogger->close();
gtLogger->flush();
gtLogger->close();
}
void Manager::manualCheckpoint() {
qDebug() << "Manual checkpoint";
long long timestamp = nowInMsec();
timestamp -= startTime;
QTextStream out(gtLogger.get());
out << timestamp << endl;
}
void Manager::onData(std::string str) {
qDebug() << QString(str.c_str());
if (dataLogger) {
dataLogger->write(str.c_str());
dataLogger->write("\n");
}
long long timestamp = nowInMsec();
timestamp -= startTime;
bool successfullMeas = true;
std::stringstream lineStream(str);
std::string cell;
@@ -99,47 +150,111 @@ void Manager::onData(std::string str) {
int i = 0;
const float alpha = 0.7f;
QTextStream out(dataLogger.get());
out << timestamp << ";";
while (std::getline(lineStream, cell, ';')) {
switch(i) {
case 0: {
case 0: {
// success flag
successfullMeas = (cell == "1");
out << (successfullMeas ? 1 : 0) << ";";
break;
}
case 1: {
// timestamp; ignore;
break;
}
case 1: {
case 2: {
if(NUC1 == cell) {distIndex = 0;}
if(NUC2 == cell) {distIndex = 1;}
if(NUC3 == cell) {distIndex = 2;}
if(NUC4 == cell) {distIndex = 3;}
out << QString(cell.c_str()) << ";";
break;
}
case 2: {
if ("FAILED" == cell) {
_dist[distIndex] = 0;
case 3: {
if (successfullMeas) {
_dist[distIndex] = std::stoi(cell) + _offset;
//_dist[distIndex] = _dist[distIndex] * alpha + atoi(cell.c_str()) * (1-alpha);
} else {
//_dist[distIndex] = std::stoi(cell);
_dist[distIndex] = _dist[distIndex] * alpha + atoi(cell.c_str()) * (1-alpha);
_dist[distIndex] = 0;
}
out << _dist[distIndex] << ";";
break;
}
case 3: {
_stdDev[distIndex] = atoi(cell.c_str());
case 4: {
if (successfullMeas) {
_stdDev[distIndex] = atoi(cell.c_str());
} else {
_stdDev[distIndex] = 0;
}
out << _stdDev[distIndex] << ";";
break;
}
case 4: {
case 5: {
// RSSI
}
out << cell.c_str() << ";";
break;
}
}
++i;
}
emit distChanged();
out << endl;
// if (dataLogger && successfullMeas) {
// dataLogger->write(str.c_str());
// dataLogger->write("\n");
// }
emit distChanged();
}
void Manager::onUWBData(std::vector<uchar> data) {
qDebug() << "Received uwb data " << data;
long long timestamp = nowInMsec();
timestamp -= startTime;
UwbResult uwbResult = uwb_parse(data.data());
_uwbDist[0] = 0;
_uwbDist[1] = 0;
_uwbDist[2] = 0;
_uwbDist[3] = 0;
for (UwbDistance& dist : uwbResult.distances) {
qDebug() << dist.nodeID;
switch (dist.nodeID) {
case 0x1D8C: _uwbDist[0] = static_cast<float>(dist.distance); break;
case 0x47A7: _uwbDist[1] = static_cast<float>(dist.distance); break;
case 0x863B: _uwbDist[2] = static_cast<float>(dist.distance); break;
case 0x58B4: _uwbDist[3] = static_cast<float>(dist.distance); break;
}
if (uwbLogger) {
QTextStream out(uwbLogger.get());
out << timestamp << ";" << "1;" << "DW" << hex << dist.nodeID << dec << ";" << dist.distance << endl;
}
}
emit distChanged();
}
Manager mgmt;
@@ -156,5 +271,16 @@ extern "C" {
mgmt.onData(str);
}
JNIEXPORT void JNICALL Java_android_net_wifi_UWB_onUWBComplete(JNIEnv* env, jobject jobj, jbyteArray arrayID) {
(void) env; (void) jobj;
jsize length = env->GetArrayLength(arrayID);
jbyte* data = env->GetByteArrayElements(arrayID, 0);
std::vector<uchar> c_data;
c_data.assign(reinterpret_cast<char*>(data), reinterpret_cast<char*>(data)+length);
env->ReleaseByteArrayElements(arrayID, data, JNI_ABORT);
mgmt.onUWBData(c_data);
}
}
#endif